Backup diff of Vision sensor(No. 7)

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#contents


*Control method for vision sensor [#q54c34b0]

※This tutorial is compatible with v2.1.0 or later.
I will explain how to use the vision sensor.
//I will explain some functions after. It is not supporter by SIGViewer1.3.5 or later.
**Environment scanning by vision sensor [#ee622eab]
I will introduce the sample file for scanning the environment using the vision sensor.

***Creation of the controller [#d49f13ea]
 $ cd ~/MyWorld
 $ emacs WatchController.cpp

WatchController.cpp

#highlight(cpp){{
#include "Controller.h"
#include "Logger.h"
#include "ControllerEvent.h"

#define PI 3.141592
#define DEG2RAD(DEG) ( (PI) * (DEG) / 180.0 )

class WatchController : public Controller
{
public:
  void onRecvMsg(RecvMsgEvent &evt);
};

void WatchController::onRecvMsg(RecvMsgEvent &evt)
{
  SimObj *my = getObj(myname());

  //受け取ったメッセージをint型に変換します
  const char *value = evt.getMsg();
  int angle = atoi(value);
  if (angle <= 180 && angle >=-180){

     //体全体をz軸から指定した角度だけ回転します
    my->setAxisAndAngle(0, 1.0, 0, DEG2RAD(angle));
  }
}

extern "C"  Controller * createController ()
{
  return new WatchController;
}
}}

This sample is used to rotate the body with an angle which is received as message. 
I will define the angle in z-axis direction, the angle that can be specified is between -180° and 180°.

***Compiling [#z7c61992]
I will compile the cpp file
 
 $ ./sigmake.sh  WatchController.cpp


***XML file for living room [#n170b769]
I will create a new world file.

 $ emacs WatchWorld.xml

WatchWorld.xml

#highlight(xml){{
<?xml version="1.0" encoding="utf8"?>
<world name="myworld5">

  <gravity x="0.0" y="-980.7" z="0.0"/>

  <!--エージェントRobot-niiの設定-->
  <instanciate class="Robot-nii.xml">

    <!--エージェント名-->
    <set-attr-value name="name" value="robot_000"/>

    <!--C++言語の指定-->
    <set-attr-value name="language" value="c++"/>

    <!--コントローラの指定-->
    <set-attr-value name="implementation"
                    value="./WatchController.so"/>

    <!--動力学演算をfalseに設定-->
    <set-attr-value name="dynamics" value="false"/>

    <!--エージェントの位置(x,y,z)-->
    <set-attr-value name="x" value="0.0"/>
    <set-attr-value name="y" value="54.0"/>
    <set-attr-value name="z" value="-40.0"/>

    <!--カメラのID番号,リンク名、方向、位置の設定-->
    <camera id="1"
            link="HEAD_LINK"
            direction="0 -1 1"
            aspectRatio="1.5"
            fov="45"
            position="0.0 0.0 5.0"/>
  </instanciate>

  <!--リビングルーム-->
  <instanciate class="seTV.xml">
    <set-attr-value name="name" value="TV_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-20.0"/>
    <set-attr-value name="y" value="87.5"/>
    <set-attr-value name="z" value="-250.0"/>
    <set-attr-value name="visStateAttrName" value="switch"/>
    <set-attr-value name="switch" value="on"/>
  </instanciate>

  <instanciate class="seDoll_Bear.xml">
    <set-attr-value name="name" value="kuma_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="0.0"/>
    <set-attr-value name="y" value="9.9"/>
    <set-attr-value name="z" value="0.0"/>
  </instanciate>

  <instanciate class="seToy_D.xml">
    <set-attr-value name="name" value="penguin_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="50.0"/>
    <set-attr-value name="y" value="6.15"/>
    <set-attr-value name="z" value="-40.0"/>
  </instanciate>

  <instanciate class="seSofa_2seater.xml">
    <set-attr-value name="name" value="sofa_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-200.0"/>
    <set-attr-value name="y" value="31.85"/>
    <set-attr-value name="z" value="-100.0"/>
    <set-attr-value name="qw" value="0.707"/>
    <set-attr-value name="qx" value="0.0"/>
    <set-attr-value name="qy" value="0.707"/>
    <set-attr-value name="qz" value="0.0"/>
  </instanciate>

  <instanciate class="seTVbass_B.xml">
    <set-attr-value name="name" value="TVdai_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-20.0"/>
    <set-attr-value name="y" value="25.1"/>
    <set-attr-value name="z" value="-250.0"/>
  </instanciate>

  <instanciate class="sePlant_B.xml">
    <set-attr-value name="name" value="ki_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="100.0"/>
    <set-attr-value name="y" value="56.5"/>
    <set-attr-value name="z" value="-250.0"/>
  </instanciate>

  <instanciate class="seSidetable_B.xml">
    <set-attr-value name="name" value="sidetable_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-100.0"/>
    <set-attr-value name="y" value="16.0"/>
    <set-attr-value name="z" value="-100.0"/>
    <set-attr-value name="qw" value="0.707"/>
    <set-attr-value name="qx" value="0.0"/>
    <set-attr-value name="qy" value="0.707"/>
    <set-attr-value name="qz" value="0.0"/>
  </instanciate>
  <instanciate class="seApple.xml">
    <set-attr-value name="name" value="apple_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-50.0"/>
    <set-attr-value name="y" value="3.875"/>
    <set-attr-value name="z" value="30.0"/>
  </instanciate>

  <instanciate class="seOrange.xml">
    <set-attr-value name="name" value="orange_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="70.0"/>
    <set-attr-value name="y" value="2.215"/>
    <set-attr-value name="z" value="-30.0"/>
  </instanciate>

</world>

}}

This is a world file of living room with humanoid robot (Robot-nii.xml), it includes also television and armchair.

In this world file the camera is attached to the robot's head. The direction and the position of the camera set as follows:

#highlight(xml:firstline[28]){{
    <camera id="1"
            link="HEAD_LINK"
            direction="0 -1 1"
            aspectRatio="1.5"
            fov="45"
            position="0.0 0.0 5.0"/>
}}

You can attach the camera to a specific part of the robot by using link parameter. In this sample, "HEAD_LINK" is used. You can find all parts name of the humanoid robot in this page [[Joint定義一覧]]. If you attach the camera to the entity that doesn't have part or joint, the link cannot be used.

The camera position is the relative position to the link.

The camera direction and position can be set. In the sample below, camera direction is set to 45 degrees downward.

The camera aspect ration and fov can be set as well.

If these parameters are not set the default values are used.

|Parameters|Values|
|position| "0 0 0"|
|direction| "0 0 1" |
|link   | "(Root link name)" |
|aspectRatio | "1.5" |
|fov     |   "45" (degree)|

If several cameras are set to one agent, IDs 1,2,3 ... are assigned.

#highlight(xml:firstline[28]){{
    <camera id="1"
            :
                
    <camera id="2"
            :
}}
***Start [#ne91c343]
Let's start SIGVServer.
 $ sigserver.sh -w ./WatchWorld.xml

The SIGViewer connects to the server and the simulation will be started. You can see the Agent standing in the living room.

#ref(視覚に関する操作(v2.0系)/watch_1.PNG,40%)

If you click on the robot, you will see the view of the vision sensor on the top left of the SIGVIiewer window as shown in the picture below.

#ref(視覚に関する操作(v2.0系)/watch_2.PNG)

If you click on the top right button in the sub-window, main view and sub view will be switched.

#ref(視覚に関する操作(v2.0系)/watch_3.PNG,40%)

元に戻したい場合はもう一度左上のサブウィンドウの右上にあるボタンを押します。
If you want to replace the sub-window, you have to click on its right-top button.

カメラの位置や視線方向を確認したい場合はビューワーの右下のトレイにあるEntityDataをクリックし、エンティティをクリックします。
If you want to check the camera's position and rotation, you have to click on the entity button on the right-bottom of the viewer.

#ref(./Watch_7.PNG,40%)
#ref(./Watch_7.PNG,40%)

カメラの位置とカメラの視線方向がオレンジ色で示されています。
Camera's position and direction are shown as orange vector.

次に右下のトレイにある"Message"ボタンをクリックして、ヒューマノイド型ロボットのエージェントに回転する角度を指定して、メッセージを送信します。例えば90を送信します。
Next, you have to click on the message button on the right bottom of the viewer, then, write and send messages for the agent. In the example below, the message "90" is sent to the agent, which means rotate the agent with 90 degrees.

#ref(視覚に関する操作(v2.0系)/watch_4.PNG,80%)

するとロボットが90°回転してロボットの視線からはオレンジやペンギンのおもちゃが見えているのがわかります。
Then, the agent rotates with 90 degrees and you can see the orange and the toy through the robot vision.


#ref(視覚に関する操作(v2.0系)/watch_5.PNG,40%)


*Old Version [#z9ddc886]
-[[視覚に関する操作(v2.0系)]]
-[[視覚に関する操作(v120330, v1.4.8)]] 

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#highlight(end)
Up:[[Tutorial]]　　 　　Previous：[[エージェント間のメッセージのやりとり]]　　　　　Next：[[サービスプロバイダの使用方法]]
Backup diff of Vision sensor (No. 7)
